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JRM Vol.13 No.3 pp. 230-237
doi: 10.20965/jrm.2001.p0230
(2001)

Paper:

Development of User-friendly Tuning for Impedance Control Parameters

Junji shimamura* and Masaki Arao**

*Industrial Automation Company, OMRON Corporation, Shiokoji Horikawa, Shimogyo-ku, Kyoto 600-8530, Japan

**Information Technology Research Center, OMRON Corporation, 2-2-1 Nishikusatsu, Kusatsu, Japan

Received:
January 4, 2001
Accepted:
January 18, 2001
Published:
June 20, 2001
Keywords:
impedance control, parameter tunig, fuzzy
Abstract

Impedance control, a type of indirect force control, is a method for providing a control system with compliance against forces effected by external environment. This method is expected to be applied primarily to industrial purposes, but it has such disadvantages that the process for tuning its parameters is based on a trial-and-error rule and largely depends on the controlling skill of operators. This paper describes a parameter tuning tool capable of readily setting the optimum impedance parameters and then clarifies the effectiveness of the suggested tool according to the results of experiments conducted on IC test inserter. Operators are not necessarily required to acquire the knowledge about impedance control.

Cite this article as:
Junji shimamura and Masaki Arao, “Development of User-friendly Tuning for Impedance Control Parameters,” J. Robot. Mechatron., Vol.13, No.3, pp. 230-237, 2001.
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